CÁLCULO SIMBÓLICO APLICADO A ROBOTS INDUSTRIALES MEDIANTE SAGE

Abstract

This paper presents the kinematics development of an industrial robot through SAGE (Software for Algebra and Geometry Experimentation) programming. SAGE is a free alternative to owner computation software such as Maple, Mathematica or MATLAB. SAGE can operate in server mode from any browser, allowing you to apply new information technologies to multiple engineering problems. The kinematics of industrial robots is one of the applications of SAGE. The kinematics study is dealt considering a set of rigid bars linked together through articulations, making up all of them an open kinematic chain. From here, the robot motion analysis is solved using algorithms based on vector mechanics. The approach is performed following the Denavit-Hartenberg representation that standardizes the coordinate systems which describes spatial relations. After studying the kinematic problem, the symbolic computation programming in SAGE is performed and generic results of the kinematic variables of position, velocity and acceleration are obtained. The programming allows you to particularize the problem to any specific situation and the data can be presented graphically to give a simple computation environment for any particular structure of an industrial robot.